Design Of Deshuttering Robot Control System

As the key intelligent equipment in the production line of precast concrete,deshuttering robot has an important influence on the flexible production of precast concrete.Because no one has studied the control system of the robot at home,in order to meet the needs of the development of the market,this paper designs a set of deshuttering robot control system.Firstly,the performance index of the robot is designed according to the actual demand.The whole structure of the robot is Cartesian system in Longmen,4 drive shafts were designed,each axis is driven by a servo motor,which drives the rack and pinion transmission.the transmission mechanism and the shape of the finger tip of the end effector are designed,which adopt pneumatic driving,and the pneumatic driving system is designed.Secondly,an open CNC system based on PC+ motion controller is designed as the control system of the robot.The structure layout of the system hardware is designed,and the principle of the wiring rules between the controller and some hardware is introduced.The rules of type selection and the calculation formula of the servo motor are offered,and using Y axis servo motor as an examples to carefully introduce the servo motor choosing process.Thirdly,the main program and sub program of the open PLC in the controller are programmed.The manual control interface,automatic control interface and system interface are designed.meanwhile,the the remote monitoring and control system is built base on Visual Studio 2013 programming software.Finally,the control system is tested in the robot prototype.The experimental results show that the positioning precision,the maximum running speed,and the 80 kg side tool grasping index can be achieved,real time display of the robot coordinates,movement speed and input and output state are achieved.